適応的ロボット制御のための文脈認識型ニューラルODEダイナミクスの学習
Learning Context-Aware Neural ODE Dynamics for Adaptive Robotic Control
環境変化に適応するため、状態と行動の履歴から環境要因を推定するニューラルODEベースの文脈認識型ダイナミクスモデルを提案し、モデル予測制御と組み合わせて様々なロボットで検証した。
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著者: Shao-Yi Yu, Jen-Wei Wang, Maya Horii, Masayoshi Tomizuka, Vikas Garg
分類: cs.RO
原文アブストラクト
Robotic systems deployed in uncertain and dynamically changing environments often face variations in contact conditions, aerodynamic effects, and external disturbances that challenge reliable control. To remain effective under model-based control, these systems require dynamics models that can adapt to such changes, especially when direct access to complete environmental information is limited. To enable adaptability and facilitate integration with model predictive control, we propose a context-aware dynamics model based on neural ordinary differential equations, which infers environmental factors from state-action histories using a two-phase training procedure. We validate the approach across diverse robotic platforms, including a quadrotor in simulation, as well as a Sphero BOLT robot and a Fanuc manipulator in real-world experiments. The results demonstrate that our method effectively adapts to temporally and spatially varying environmental changes across different tasks. Videos are available at https://youtu.be/PY0sNyF2rqE , and the source code is available at https://github.com/syyu410-yu/context-aware-neural-ode-control.git .
